... | ... | @@ -2,11 +2,11 @@ This page explains and clarify the various variables used to denote joint forces |
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| | Qq | Qc | Qa [^2]
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| Dirdyn | Input (user_jointForces) | Output, resulting of driven joints | Not used |
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| Dirdyn – smlk | Input (user_jointForces) | Output, resulting of driven joints | Input, Coming from block input port [^1] |
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| Equil | Input (user_jointForces) | | Can be used as additional/exchanged equilibrium variable to find a force/torque in steady state equil (Input of the equations, output of the module) |
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| Invdyn | Input (user_jointForces) | | |
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| Casadi | Symbolic/numeric constitutive law in joints (user_jointForces) | Not used | Used by module to put control input |
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| Dirdyn | Input (user_jointForces) | Output (from driven joints) | Not used |
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| Dirdyn – smlk | Input (user_jointForces) | Output (from driven joints) | Input, Coming from block input port [^1] |
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| Equil | Input (user_jointForces) | Output (from driven joints) | Can be used as additional/exchanged equilibrium variable to find a force/torque in steady state equil (Input of the equations, output of the module) |
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| Invdyn | Input (user_jointForces) | Output (from driven joints) | |
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| Casadi | Symbolic/numeric constitutive law in joints (user_jointForces) | Output (from driven joints) | Used by module to put control input |
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Qa should not be used to store results of the Invdyn symbolic file. INvdynrad symbolic should be something like ImpDynraed (Reduced Implicit Dynamics) and the results should be calle GammaR or GammaRed. (see Eq 3.18 in QD thesis)
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